#pragma once
#include "robot_common.h"
class  HandEyeCal
{
public:
	typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
	typedef PointCloud::Ptr PointCloudPtr;
public:
	bool
		eyeToHand(std::vector<LocationDH>& input_camera, std::vector<LocationDH>& input_robot, Eigen::Matrix4f& output_mat);

};
